My boxes are kinda crap.. they bulge out a bit, and sometimes I find a straight down place ends up with boxes crushing eachother at the corner because they'll shuffle a bit when placed, as the cups release and the head moves up, it tends to push them slightly out of position.
I am really new to this stuff, so my motion goes from the home (perch) position to above directly where the box is going, plus an x and y offset of about 30 mm, straight down to just above where it needs to place, then slide into place on x,y,z simultaneously.. i call it the 'snug' position, because it'll slide its way into the right spot (hopefully). Unfortunately, it doesn't always work, and while the boxes won't crush eachother, they get progressively further up the higher you go.
Is my thinking on this flawed? Should I always just be coming straight down? The fence is like ...right.. there next to the pallet so i have to use linear movement but watching the robot shudder a bit in linear movement at 1000mm/min think it's not good to use it versus joint. If i use joint, even reducing that last variable from 100 to 5%, it will still crash the fence.